CN105353776B - A kind of control system of arm support, method, apparatus and engineering machinery - Google Patents
A kind of control system of arm support, method, apparatus and engineering machinery Download PDFInfo
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- CN105353776B CN105353776B CN201410411944.8A CN201410411944A CN105353776B CN 105353776 B CN105353776 B CN 105353776B CN 201410411944 A CN201410411944 A CN 201410411944A CN 105353776 B CN105353776 B CN 105353776B
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Abstract
The present invention relates to technical field of engineering machinery, discloses a kind of control system of arm support, method, apparatus and a kind of engineering machinery.In order to improve the operating efficiency of arm support adjusting, the present invention provides a kind of control system of arm support, the control system of the arm support, including：Arm support detection device, for detecting current angle of revolution and the current pose of arm support；Locating and detecting device, for detecting the positional information and target position information of the arm support root centre of gyration；Starter, starts the first startup order of the arm support action for sending；Control device, is connected with the arm support detection device, locating and detecting device and starter signal, for determining the running orbit of arm support with target location according to current angle of revolution, current pose, arm support root centre of gyration position；Arm support first is exported after the first startup order is received and runs control signal, control arm support is run to target angle of revolution and targeted attitude according to the running orbit, arm support tail end is run to target location.
Description
Technical field
The present invention relates to technical field of engineering machinery, more particularly to a kind of control system of arm support, method, apparatus and one
Kind engineering machinery.
Background technology
Arm support engineering machinery needs to extend to arm support tail end into the construction location specified before construction, arm support tail end movement side
To control be controlled completely by the observation of manipulator's experience and manipulator to construction location, be hinged to for more piece arm joint
Arm support (such as arm support of concrete mixer) for, manipulator needs to control per joint arm section, and mutual per the operation of joint arm frame
Do not associate, the moving direction of its arm support tail end is held by the experience of manipulator completely.If manipulator lacks experience, it is impossible to accurate
The moving direction of arm support tail end is held, then needs repeatedly to adjust more piece arm joint, and then cause construction efficiency relatively low.
In view of the above problems, progressively developed a key swing arm technology in the prior art, a traditional key swing arm technology be by
Arm support is directly expanded to a certain common arm support posture, and a key swing arm technology is widely used to arm support since it is simple efficient
Among class engineering machinery.But the utilization rate that a key is expanded to common arm support posture this technology is low, makes the practicality not high, right
In different construction operating modes, when operating mode of particularly constructing is complicated, common arm support posture does not ensure that the operating mode of complexity can be with
Use, thus it is also often desirable to manipulator construction location observe to the arm support root centre of gyration and often joint arm section into
Row adjustment, is operated manually due to manipulator to the centre of gyration and per joint arm section, so that the operation effect that arm support is adjusted
Rate is relatively low, influences the construction speed of engineering.
The content of the invention
An embodiment of the present invention provides a kind of control system of arm support, method, apparatus and a kind of engineering machinery, to improve
The operating efficiency that arm support is adjusted, and then improve the construction speed of engineering.
The embodiment of the present invention provides a kind of control system of arm support first, and the control system includes：
Arm support detection device, for detecting current angle of revolution and the current pose of arm support；
Locating and detecting device, for detecting the positional information and target position information of the arm support root centre of gyration；
Starter, starts the first startup order of the arm support action for sending；
Control device, is connected with the arm support detection device, locating and detecting device and starter signal, works as basis
Preceding angle of revolution, current pose, arm support root centre of gyration position and target location determine the running orbit of arm support；When receiving
One starts the output operation control signal of arm support first after order, and control arm support is run to target angle of revolution according to the running orbit
And targeted attitude, arm support tail end is run to target location.
In the technical solution of the present invention, for different construction operating modes, arm support root is turned round by locating and detecting device
Center and target location (such as construction area) are positioned, according in current angle of revolution, current pose, the revolution of arm support root
Heart position determines the running orbit of arm support with target location, and final output first runs control signal so that arm support tail end is run
To target location.Manipulator carries out intelligentized control method by starter to arm support on the ground, and control device can be advised rationally
The running route of arm pull frame, instead of manipulator and is rule of thumb adjusted to the arm support root centre of gyration and per joint arm section,
Construction efficiency is substantially increased, and then improves construction speed, in addition, the running orbit of the arm support of control device planning, relatively
Adjusted manually in manipulator, the security of arm support operation can be improved.
The type of the locating and detecting device can have it is a variety of, as long as the detection arm support root centre of gyration and mesh can be realized
The position relationship of cursor position, it is preferred that the locating and detecting device includes：
Benchmark GPS terminal on the setting position of the engineering machinery including the arm support, it is three-dimensional for obtaining setting
The position coordinates of the arm support root centre of gyration under coordinate system；
Mobile GPS terminal positioned at target location, for obtaining the position of target location under the setting three-dimensional system of coordinate
Coordinate.
Using GPS technology, the arm support root centre of gyration and target location can be obtained under same three-dimensional system of coordinate
Coordinate, and then the accurate definite arm support root centre of gyration and the position relationship of target location.Location technology is not limited to use
GPS, the technology such as ultrasonic wave of other elements of a fix etc. can also.
For different construction operating modes, such as tunnel, high building, foundation pit, there may be barrier, it is preferred that the startup
Device, is additionally operable to send the second startup order for starting the arm support action, the control system further includes：
Barrier ranges determination device, for detecting the positional information of barrier；
The control device, is also connected with the barrier ranges determination device signal, is further used for according to barrier
Position and the running orbit of arm support determine to make the safe operation track that arm support avoiding obstacles are run；And opened when receiving second
Arm support second is exported during dynamic order and runs control signal, control arm support is run to target angle of revolution according to the safe operation track
And targeted attitude, arm support tail end is run to target location.
Barrier is detected using barrier ranges determination device, control device is according to the position of barrier and the operation of arm support
The safe operation track of arm support is determined in track, can effectively improve security of the arm support in revolution or expansion.
Preferably, the arm support includes more piece arm joint, and the arm support detection device includes：
Detect the rotary encoder of current angle of revolution；And
Obliquity sensor on every joint arm section；Or, the in-oil cylinder displacement sensor positioned at every joint arm section.
Technical scheme is turned round particularly suitable for having the arm support of more piece arm joint, such as the arm support of concrete mixer
The detection at angle can use the rotary encoder being arranged on revolving platform, and the posture of arm support can use obliquity sensor or position
Displacement sensor determines.
The embodiment of the present invention also provides a kind of engineering machinery, includes the control system of any of the above-described kind of arm support.
If the engineering machinery with arm support is operated using the control system of any of the above-described kind of arm support to arm support
When, since arm support can be run according to the running orbit that control device determines, realize intelligentized control method, therefore can greatly improve
Construction efficiency, and then improve construction speed.Engineering machinery can be concrete mixer.
The embodiment of the present invention also provides a kind of control method of arm support, including：
Current angle of revolution and the current pose of arm support are received, and receives the positional information and target of the arm support root centre of gyration
Positional information；
The fortune of arm support is determined according to position and the target location of current angle of revolution, current pose, the arm support root centre of gyration
Row track；
Arm support first is exported after the first startup order is received and runs control signal, control arm support is according to the operation rail
Mark is run to target angle of revolution and targeted attitude, arm support tail end is run to target location.
In the control method of the arm support of the present invention, due to the current angle of revolution that can obtain arm support at any time and current appearance
State, and the positional information and target position information of the arm support root centre of gyration, therefore, can obtain arm support tail end from present bit
The running orbit to the arm support of target location is put, after arm support is according to the running orbit end of run, arm support tail end is run to mesh
Cursor position, completely using intelligentized control method, greatly improves work efficiency.
Preferably, the arm support includes more piece arm joint, and the running orbit of the arm support includes：
The arm support root centre of gyration returns back to target angle of revolution, and target angle and more piece arm joint are expanded to per joint arm section
Operation order.
Preferably, the operation order of more piece arm joint specifically includes：
First joint arm section starts expansion, until the angle of first joint arm section and the centre of gyration is first object angle, θ1；
When meeting L1sinθ11≥L2When, the second arm joint starts expansion, until the angle of the second arm joint and first joint arm section is the
Two target angle θ2, wherein, L1Headed by joint arm section length, L2For the length of the second arm joint, θ11For the first joint arm section detected in real time
With the angle of the centre of gyration；
When meeting L2sin(θ21-θ11)≥L3When, the 3rd arm joint starts expansion, until the folder of the 3rd arm joint and the second arm joint
Angle is the 3rd target angle θ3, wherein, L3For the length of the 3rd arm joint, θ21For the second arm joint detected in real time and first joint arm section
Angle；
When meeting L3sin(θ32-θ21)≥L4When, the 4th arm joint starts expansion, until the folder of the 4th arm joint and the 3rd arm joint
Angle is the 4th target angle θ4, wherein, L4For the length of the 4th arm joint, θ32For the 3rd arm joint and the second arm joint detected in real time
Angle；
And so on, until each joint arm section is expanded to target angle.
In this embodiment, define the operation order of more piece arm joint, and define the start and stop condition of every joint arm section, should
Start and stop condition considers jib structure form and arm support interference point and designs, therefore, while arm support operational efficiency is improved,
Also improve the security of arm support operation.
Preferably, the control method, further includes：
Receive the positional information of barrier；
The safe operation rail for determining to run arm support avoiding obstacles according to the running orbit of the position of barrier and arm support
Mark；
Arm support second is exported when receiving the second startup order and runs control signal, control arm support is transported according to the safety
Row track is run to target angle of revolution and targeted attitude, arm support tail end is run to target location.
Based on identical inventive concept, the embodiment of the present invention also provides a kind of control device of arm support, including：
Receiving module, for receiving current angle of revolution and the current pose of arm support, and obtains the arm support root centre of gyration
Positional information and target position information；
Determining module, for according to current angle of revolution, current pose, the arm support root centre of gyration position and target location
Determine the running orbit of arm support；
Action module, runs control signal for exporting arm support first after the first startup order is received, controls arm support
Run according to the running orbit to target angle of revolution and targeted attitude, arm support tail end is run to target location.
Preferably, the receiving module, is additionally operable to receive the positional information of barrier；
The determining module, is additionally operable to determine to make arm support avoid obstacle according to the position of barrier and the running orbit of arm support
The safe operation track of thing operation；
The starting module, is additionally operable to export the operation control signal of arm support second, control when receiving the second startup order
Arm support processed is run to target angle of revolution and targeted attitude according to the safe operation track, arm support tail end is run to target position
Put.
Brief description of the drawings
Fig. 1 is the structure diagram of the control system for the arm support that one embodiment of the invention provides；
Fig. 2 is the structure diagram of the control system for the arm support that another embodiment of the present invention provides；
Fig. 3 is the flow diagram of the control method for the arm support that one embodiment of the invention provides；
Fig. 4 is the schematic diagram of arm support position coordinate of the present invention；
Fig. 5 is the flow diagram of the control method for the arm support that another embodiment of the present invention provides；
Fig. 6 is the structure diagram of the control device for the arm support that one embodiment of the invention provides.
Reference numeral：
1- arm support detection device 2- locating and detecting device 3- starters
4- control device 5- barrier ranges determination device 6- arm supports
41- receiving module 42- determining module 43- action modules
Embodiment
In order to improve arm support adjusting operating efficiency, an embodiment of the present invention provides a kind of control system of arm support, method,
Device and a kind of engineering machinery.In the technical scheme, by locating and detecting device to the arm support root centre of gyration and target
Position (such as construction area) is positioned, according to current angle of revolution, current pose, arm support root centre of gyration position and target
The running orbit of location determination arm support, final output first run control signal so that arm support tail end is run to target location.Behaviour
Make hand and intelligentized control method is carried out to arm support by starter on the ground, control device can make rational planning for the operation road of arm support
Line, instead of manipulator and is rule of thumb adjusted to the arm support root centre of gyration and per joint arm section, substantially increase construction
Efficiency, and then improve construction speed.With specific embodiment and it is described with reference to the accompanying drawings the present invention below.
The embodiment of the present invention provides a kind of control system of arm support first, as shown in Figure 1, Fig. 1 is one embodiment of the invention
The structure diagram of the control system of the arm support of offer, the control system include：
Arm support detection device 1, for detecting current angle of revolution and the current pose of arm support；
Locating and detecting device 2, for detecting the positional information and target position information of the arm support root centre of gyration；
Starter 3, starts the first startup order of the arm support action for sending；
Control device 4, is connected with arm support detection device 1, locating and detecting device 2 and 3 signal of starter, works as basis
Preceding angle of revolution, current pose, arm support root centre of gyration position and target location determine the running orbit of arm support；When receiving
One starts the output operation control signal of arm support first after order, and control arm support 6 runs to target according to the running orbit and turns round
Angle and targeted attitude, make arm support tail end run to target location.Arm support can be completed according to fortune by the executing agency of arm support
Row track is run, and the executing agency of arm support includes the turntable being connected with arm support root of driving arm support revolution, and driving arm support
The telescopic oil cylinder being arranged in every joint arm section of expansion.
In the technical solution of the present invention, for different construction operating modes, arm support root is turned round by locating and detecting device 2
Center and target location (such as construction area) are positioned, according in current angle of revolution, current pose, the revolution of arm support root
Heart position determines the running orbit of arm support with target location, and final output first runs control signal so that arm support tail end is run
To target location.Manipulator carries out intelligentized control method by starter 3 to arm support 6 on the ground, and control device 4 can be reasonable
Plan the running route of arm support, instead of manipulator and rule of thumb adjusted to the arm support root centre of gyration and per joint arm section
It is whole, construction efficiency is substantially increased, and then construction speed is improved, in addition, the running orbit for the arm support that control device 4 is planned,
Adjusted manually relative to manipulator, the security of arm support operation can be improved.
In this application, arm support posture is only the form that arm support is launched into, not the angle of revolution including arm support.
In the control system of arm support of the present invention, arm support detection device 1 can detect posture and the angle of revolution of arm support in real time
Information, for obtain arm support tail end position；Locating and detecting device 2 is used to obtain the arm support root centre of gyration and target position
The positional information put, it is therefore an objective to obtain the arm support root centre of gyration and the position relationship of target location；Starter 3 should possess one
A switch, manipulator, which need to only open the switch, can start automatic swing arm function, since starter 3 can reach mesh with manipulator
Cursor position, therefore starter 3 can be integrated in one with being used to detect the device of target position information in locating and detecting device 2.
Starter 3 can be arranged in remote controler, and manipulator can hold starter 3, when needing replacing construction location, operation
Hand opens starter 3, then control device 4 controls arm support to be acted according to the running orbit calculated, until arm support tail end
Operation realizes complete key intellectualized operation, avoids manipulator and repeatedly adjust arm support or angle of revolution, significantly to target location
Improve construction efficiency.
The particular type of control device 4 is unlimited, such as can be programmable controller, personal computer etc..Control device 4
It can also can be realized by hardware realization by software, the present invention does not limit.
Also there is one kind to preset arm support target location parameter by man-machine interface in the prior art, arm support tail end is fast
Speed is adjusted to operating point location, although this method can improve a key swing arm work efficiency, but need to pre-enter parameter, behaviour
Parameter can not be accurately held by making hand, and delay the construction time, and locating and detecting device 2 is employed in the present invention, can be direct
The positional information of target location is got, without to input parameter, improving the accuracy of arm support expansion, also substantially increasing work
Make efficiency.
The type of the locating and detecting device can have it is a variety of, as long as the detection arm support root centre of gyration and mesh can be realized
The position relationship of cursor position, it is preferred that the locating and detecting device includes：
Benchmark GPS terminal on the setting position of the engineering machinery including the arm support, it is three-dimensional for obtaining setting
The position coordinates of the arm support root centre of gyration under coordinate system；
Mobile GPS terminal positioned at target location, for obtaining the position of target location under the setting three-dimensional system of coordinate
Coordinate.
Using GPS technology, the arm support root centre of gyration and target position can be obtained under same setting three-dimensional system of coordinate
The coordinate put, and then the accurate definite arm support root centre of gyration and the position relationship of target location.Locating and detecting device uses GPS
System, mobile GPS terminal can be installed in remote controler or the device independent as one, benchmark GPS terminal can be placed in arm support
The mount point of the root centre of gyration or known fixed deviation, in driver's cabin.Preferably, the zero point position of three-dimensional system of coordinate is set
Put and be preferably arranged to the arm support root centre of gyration, then the relative position relation of target location and the arm support root centre of gyration can
For the coordinate of target location and the relativeness of dead-center position, calculating enormously simplify.Benchmark GPS terminal is sent out including benchmark GPS
Emitter and reference GPS receiver, similarly, mobile GPS terminal include mobile GPS transmitter and mobile gps receiver.Target location
According to the different and different of construction location, mobile GPS terminal is arranged at target location, for detecting the seat of target location
Mark.Mobile GPS terminal can be arranged in the remote controller transmitter of concrete mixer, and starter can also be arranged at remote controler
In transmitter, manipulator can be walked about to target location with hand-held remote controller transmitter, be conveniently carried out at the same time and target location is positioned
With the start-up operation of automatic swing arm.
Location technology is not limited to use GPS, the technology such as ultrasonic wave of other elements of a fix etc. can also.
The particular type of locating and detecting device 2 is unlimited, it is preferred to use differential GPS (Global Positioning
System, global positioning system, abbreviation GPS) positioner (by carrying out simultaneous observation on fixed survey station and flowing survey station,
Using on fixed survey station on measured GPS positioning error information correction flowing survey station positioning result global position system) or
Big Dipper positioner (by Chinese independent development and that establishes be used for the satellite system navigating and position), since it has the whole world entirely
Weather positioning, positioning accuracy is high, observation time is short, between survey station without intervisibility the advantages that, it is possible to increase measurement accuracy, is established more
Accurate coordinate setting, and then effectively improve the precision of intelligentized control method.During using Differential GPS Technology, locating and detecting device
In observation of the mobile gps receiver to satellite group obtain the initial position parameters of target location, and obtain reference GPS receiver
The carrier phase information of transmission, the position coordinates of target location is obtained according to the carrier phase information and initial position parameters.
For different construction operating modes, such as tunnel, high building, foundation pit, there may be barrier, it is preferred that such as Fig. 2 institutes
Show, Fig. 2 is the structure diagram of the control system for the arm support that another embodiment of the present invention provides, and the starter 3, is additionally operable to
The the second startup order for starting the arm support action is sent, the control system further includes：
Barrier ranges determination device 5, for detecting the positional information of barrier；
Control device 4, is also connected with 5 signal of barrier ranges determination device, is further used for the position according to barrier
Determine to make the safe operation track that arm support avoiding obstacles run with the running orbit of arm support；And work as and receive the second startup order
When export arm support second run control signal, control arm support run according to the safe operation track to target angle of revolution and target
Posture, makes arm support tail end run to target location.
In conventional construction site such as bridge, tunnel, tunnel etc., due to the particularity of construction location, a key swing arm process
In may be collided with surrounding objects, using barrier ranges determination device 5 detect barrier, control device 4 is according to barrier
The running orbit of position and arm support determines the safe operation track of arm support, can effectively improve arm support in revolution or expansion
Security.The method that barrier ranges determination device 5 detects barrier, can specifically be positioned using multiple spot, delimit out barrier
Hinder the outer peripheral areas of thing, if arm support revolution or stretching, extension when avoiding obstacles outer peripheral areas.Barrier scope determines to fill
Putting 5 can be replaced with mobile GPS terminal, i.e., mobile GPS terminal both detects target location, also detect the outer peripheral areas of barrier,
So mobile GPS terminal can play the role of barrier ranges determination device, save the cost of equipment.
Preferably, the arm support includes more piece arm joint, and the arm support detection device 1 includes：
Detect the rotary encoder of current angle of revolution；And
Obliquity sensor on every joint arm section；Or, the in-oil cylinder displacement sensor positioned at every joint arm section.
Technical scheme is turned round particularly suitable for having the arm support of more piece arm joint, such as the arm support of concrete mixer
The detection at angle can use the rotary encoder being arranged on revolving platform, and the posture of arm support can use obliquity sensor or position
Displacement sensor determines.Obliquity sensor on every joint arm section is used for the inclination angle for detecting the arm joint, according to two adjacent sections arm
The inclinometer of section calculates the angle between two adjacent sections arm joint, wherein, the obliquity sensor on first joint arm section is used to detect first section
The inclination angle of arm joint and the centre of gyration, displacement sensor are used for the oil cylinder stroke for detecting every joint arm section, pass through oil cylinder stroke and arm support
Hinge structural parameters can draw the angle between two adjacent sections arm joint.Therefore, by the inclination angle of every joint arm section or per joint arm section
Oil cylinder stroke be that can determine that the posture of arm support, because therefore the posture of arm support is it was determined that can obtain the position of arm support tail end
Put.Certainly, except using outside obliquity sensor and displacement sensor any type of arm support can also can be measured using other
The sensor of angle.
The embodiment of the present invention also provides a kind of engineering machinery, includes the control system of any of the above-described kind of arm support.
If the engineering machinery with arm support is operated using the control system of any of the above-described kind of arm support to arm support
When, since arm support can be run according to the running orbit that control device determines, realize intelligentized control method, therefore can greatly improve
Construction efficiency, and then improve construction speed.Engineering machinery can be concrete mixer, material distributing machine, truck, automobile crane
Machine etc..
The embodiment of the present invention also provides a kind of control method of arm support, as shown in figure 3, Fig. 3 carries for one embodiment of the invention
The flow diagram of the control method of the arm support of confession, the control method include：
Step 101, the current angle of revolution for receiving arm support and current pose, and receive the position letter of the arm support root centre of gyration
Breath and target position information；
Step 102, determine according to current angle of revolution, current pose, the position of the arm support root centre of gyration and target location
The running orbit of arm support；
Step 103, export the operation control signal of arm support first after the first startup order is received, and control arm support is according to institute
State running orbit to run to target angle of revolution and targeted attitude, arm support tail end is run to target location.
In the control method of the arm support of the present invention, due to the current angle of revolution that can obtain arm support at any time and current appearance
State, and the positional information and target position information of the arm support root centre of gyration, therefore, can obtain arm support tail end from present bit
The running orbit to the arm support of target location is put, after arm support is according to the running orbit end of run, arm support tail end is run to mesh
Cursor position, technical scheme use intelligentized control method, greatly improve work efficiency completely.
Preferably, the arm support includes more piece arm joint, and the running orbit of the arm support includes：
The arm support root centre of gyration returns back to target angle of revolution, and target angle and more piece arm joint are expanded to per joint arm section
Operation order.
Preferably, the operation order of more piece arm joint specifically includes：
First joint arm section starts expansion, until the angle of first joint arm section and the centre of gyration is first object angle, θ1；
When meeting L1sinθ11≥L2When, the second arm joint starts expansion, until the angle of the second arm joint and first joint arm section is the
Two target angle θ2, wherein, L1Headed by joint arm section length, L2For the length of the second arm joint, θ11For the first joint arm section detected in real time
With the angle of the centre of gyration；
When meeting L2sin(θ21-θ11)≥L3When, the 3rd arm joint starts expansion, until the folder of the 3rd arm joint and the second arm joint
Angle is the 3rd target angle θ3, wherein, L3For the length of the 3rd arm joint, θ21For the second arm joint detected in real time and first joint arm section
Angle；
When meeting L3sin(θ32-θ21)≥L4When, the 4th arm joint starts expansion, until the folder of the 4th arm joint and the 3rd arm joint
Angle is the 4th target angle θ4, wherein, L4For the length of the 4th arm joint, θ32For the 3rd arm joint and the second arm joint detected in real time
Angle；
And so on, until each section, which saves arm, is expanded to target angle.
In this embodiment, define the operation order of more piece arm joint, and define the start and stop condition of every joint arm section, should
Start and stop condition considers jib structure form and arm support interference point and designs, therefore, while arm support operational efficiency is improved,
Also improve the security of arm support operation.
Fig. 4 is the schematic diagram of arm support position coordinate of the present invention, this is illustrated by taking the arm support of five joint arm sections shown in Fig. 4 as an example
The Computing Principle of the technical solution of invention, wherein the length of every joint arm section is fixed and is known, first segment arm joint is (i.e. first
Joint arm section, first joint arm section and the centre of gyration are hinged) length be L1, the length of the second joint arm section is L2, the length of three joint arms section
For L3, the length of the 4th joint arm section is L4, the length of the 5th joint arm section (i.e. minor details arm joint) is L5。
First, a three-dimensional system of coordinate is established, which can use space any point as coordinate origin, at this
Used in embodiment using the arm support root centre of gyration as coordinate origin in preferred solution, pass through the obliquity sensor on every joint arm section
The inclination angle (or stroke of the oil cylinder per joint arm section) of every joint arm section of detection, and can obtain arm per the regular length of joint arm section
Extreme coordinates (i.e. the hinge coordinate of two adjacent sections arm joint) in frame per joint arm section end, it is first when arm support is in original state
The current inclination of joint arm section to minor details arm joint is respectively θ10、θ20、θ30、θ40And θ50, the end P of first joint arm section1, the second joint arm section
End P2, three joint arms section end P3, the 4th joint arm section end P4With the end P of minor details arm joint5Current endpoint coordinate
Respectively (X1, Y1, Z1), (X2, Y2, Z2), (X3, Y3, Z3), (X4, Y4, Z4) and (X5, Y5, Z5), passes through rotary encoder
It is α to detect current angle of revolution.
Secondly, the positional information and the three-dimensional system of coordinate detected according to locating and detecting device obtains the seat of target location
Mark, using A points in Fig. 4 as target location exemplified by, mobile GPS terminal and benchmark GPS terminal respectively input positional information to control
In device processed, coordinate position of the target location in three-dimensional system of coordinate is determined, obtain A points position coordinate (Xa, Ya, Za)；
Again, determined according to the coordinate (i.e. the coordinate of the end of minor details arm joint) and origin of A points by trigonometric function relation
The angle of revolution of the centre of gyration and the purpose inclination angle per joint arm section, target angle of revolution as shown in Figure 4 is β, from first joint arm section to
The target angle of minor details arm joint is respectively θ1、θ2、θ3、θ4And θ5；Control device according to the current angle of revolution of arm support, current pose with
And target angle of revolution and targeted attitude, the sequence of movement of arm support is calculated in advance, and output control amount starts arm support and brings into operation.
This, considers jib structure form and arm support interference point determines each arm joint expansion order, preferably successively from first joint arm section to
The sequential deployment of minor details arm joint, according to the targeted attitude of arm support, then is planned by kinematics and derived, taken into consideration and made by hydraulic pressure factor
Into each arm joint different motion speed, obtain the start and stop condition of each arm joint：First joint arm section is always on to arrive first object angle, θ1,
Such as θ1=80 °；When meeting L1sinθ11≥L2Start the expansion of the second arm joint, until reaching the second target angle θ2, such as θ2=
160 °, θ11Angle for first the joint arm section and the centre of gyration that detect in real time；When meeting L2sin(θ21-θ11)≥L3Shi Qidong the 3rd
Arm joint is unfolded, until the 3rd target angle θ3, such as θ3=150 °, wherein, θ21For the second arm joint detected in real time and first joint arm
The angle of section, in the start and stop condition, can also select to meetWhen meeting L3sin(θ32-θ21)≥L4When,
4th arm joint starts expansion, until the angle of the 4th arm joint and the 3rd arm joint is the 4th target angle θ4, wherein, θ32For inspection in real time
The angle of the 3rd arm joint surveyed and the second arm joint；And so on the start and stop successively of remaining arm joint, when each arm joint in the order described above
After reaching target angle, target angle of revolution can be adjusted when above-mentioned arm support is adjusted under conditions of not interfering, and be made
Obtain arm support and reach target angle of revolution and targeted attitude so that run to target location the end of minor details arm joint.
Preferably, the control method, further includes：
Receive the positional information of barrier；
The safe operation rail for determining to run arm support avoiding obstacles according to the running orbit of the position of barrier and arm support
Mark；
Arm support second is exported when receiving the second startup order and runs control signal, control arm support is transported according to the safety
Row track is run to target angle of revolution and targeted attitude, arm support tail end is run to target location.
As shown in figure 5, Fig. 5 is the flow diagram of the control method for the arm support that another embodiment of the present invention provides, this hair
The control method of the arm support of bright another embodiment is as follows：
Step 201, the current angle of revolution for receiving arm support and current pose, and receive the position letter of the arm support root centre of gyration
Breath and target position information；
Step 202, determine according to current angle of revolution, current pose, the position of the arm support root centre of gyration and target location
The running orbit of arm support；
Step 203, export the operation control signal of arm support first after the first startup order is received, and control arm support is according to institute
State running orbit operation；
Step 204, judge whether to receive the positional information for the barrier that barrier ranges determination device is sent, if
It is to perform step 205, otherwise, return to step 203；
Step 205, the peace for determining to run arm support avoiding obstacles according to the position of barrier and the running orbit of arm support
Full running orbit；
Step 206, export the operation control signal of arm support second after the second startup order is received, and control arm support is according to institute
State safe operation track to run to target angle of revolution and targeted attitude, arm support tail end is run to target location.
When receiving the positional information for the barrier that barrier ranges determination device is sent, the peace of setting arm support operation
It is region-wide, determine the safe operation track for running arm support avoiding obstacles further combined with the running orbit of arm support, so that into
One step effectively improves the security of arm support operation.
Based on identical inventive concept, the embodiment of the present invention also provides a kind of control device of arm support, as shown in fig. 6, Fig. 6
The structure diagram of the control device of the arm support provided for one embodiment of the invention, the control device include：
Receiving module 41, for receiving current angle of revolution and the current pose of arm support, and obtains the arm support root centre of gyration
Positional information and target position information；
Determining module 42, for according to current angle of revolution, current pose, the arm support root centre of gyration position and target position
Put the running orbit of definite arm support；
Action module 43, control signal, control arm are run for exporting arm support first after the first startup order is received
Frame is run to target angle of revolution and targeted attitude according to the running orbit, arm support tail end is run to target location.
Continue referring to shown in Fig. 6, it is preferred that receiving module 41, is additionally operable to receive obstacle position information；
Determining module 42, is additionally operable to determine to make arm support avoiding obstacles according to the position of barrier and the running orbit of arm support
The safe operation track of operation；
Action module 43, is additionally operable to export the operation control signal of arm support second, control when receiving the second startup order
Arm support is run to target angle of revolution and targeted attitude according to the safe operation track, arm support tail end is run to target location.
In the above-described embodiments, in order to ensure the safety of the safety of arm support tail end and manipulator, the end position of final arm support
Put and may be provided near construction area safe range border.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
God and scope.In this way, if these modifications and changes of the present invention belongs to the scope of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to comprising including these modification and variations.
Claims (11)
1. a kind of control system of arm support, it is characterised in that the control system includes：
Arm support detection device, for detecting current angle of revolution and the current pose of arm support；
Locating and detecting device, for detecting the positional information and target position information of the arm support root centre of gyration；
Starter, starts the first startup order of the arm support action for sending；
Control device, is connected with the arm support detection device, locating and detecting device and starter signal, for being returned according to current
Corner, current pose, arm support root centre of gyration position and target location determine the running orbit of arm support；Opened when receiving first
Arm support first is exported after dynamic order and runs control signal, control arm support is run to target angle of revolution and mesh according to the running orbit
Posture is marked, arm support tail end is run to target location.
2. control system as claimed in claim 1, it is characterised in that the locating and detecting device includes：
Benchmark GPS terminal on the setting position of the engineering machinery including the arm support, three-dimensional coordinate is set for obtaining
The position coordinates of the lower arm support root centre of gyration of system；
Mobile GPS terminal positioned at target location, for obtaining the position coordinates of target location under the setting three-dimensional system of coordinate.
3. control system as claimed in claim 1 or 2, it is characterised in that the starter, is additionally operable to send described in startup
The second of arm support action starts order, and the control system further includes：
Barrier ranges determination device, for detecting the positional information of barrier；
The control device, is also connected with the barrier ranges determination device signal, is further used for the position according to barrier
Put the safe operation track for determining to make arm support avoiding obstacles to run with the running orbit of arm support；And ordered when receiving the second startup
Arm support second is exported when making and runs control signal, control arm support is run to target angle of revolution and mesh according to the safe operation track
Posture is marked, arm support tail end is run to target location.
4. control system as claimed in claim 1, it is characterised in that the arm support includes more piece arm joint, the arm support detection
Device includes：
Detect the rotary encoder of current angle of revolution；And
Obliquity sensor on every joint arm section；Or, the in-oil cylinder displacement sensor positioned at every joint arm section.
5. a kind of engineering machinery, it is characterised in that include the control system of such as Claims 1 to 4 any one of them arm support.
A kind of 6. control method of arm support, it is characterised in that including：
Current angle of revolution and the current pose of arm support are received, and receives positional information and the target location of the arm support root centre of gyration
Information；
The operation rail of arm support is determined according to position and the target location of current angle of revolution, current pose, the arm support root centre of gyration
Mark；
Arm support first is exported after the first startup order is received and runs control signal, control arm support is transported according to the running orbit
Row makes arm support tail end run to target location to target angle of revolution and targeted attitude.
7. control method as claimed in claim 6, it is characterised in that the arm support includes more piece arm joint, the fortune of the arm support
Row track includes：
The arm support root centre of gyration returns back to target angle of revolution, and the operation of target angle and more piece arm joint is expanded to per joint arm section
Sequentially.
8. control method as claimed in claim 7, it is characterised in that the operation order of more piece arm joint specifically includes：
First joint arm section starts expansion, until the angle of first joint arm section and the centre of gyration is first object angle, θ1；
When meeting L1sinθ11≥L2When, the second arm joint starts expansion, until the second arm joint and the angle of first joint arm section are the second mesh
Mark angle, θ2, wherein, L1Headed by joint arm section length, L2For the length of the second arm joint, θ11For the first joint arm section detected in real time and return
Turn the angle at center；
When meeting L2sin(θ21-θ11)≥L3When, the 3rd arm joint starts expansion, until the angle of the 3rd arm joint and the second arm joint is
3rd target angle θ3, wherein, L3For the length of the 3rd arm joint, θ21For the second arm joint and the folder of first joint arm section detected in real time
Angle；
When meeting L3sin(θ32-θ21)≥L4When, the 4th arm joint starts expansion, until the angle of the 4th arm joint and the 3rd arm joint is
4th target angle θ4, wherein, L4For the length of the 4th arm joint, θ32Folder for the 3rd arm joint and the second arm joint that detect in real time
Angle；
And so on, until each joint arm section is expanded to target angle.
9. control method as claimed in claim 6, it is characterised in that further include：
Receive the positional information of barrier；
The safe operation track for determining to run arm support avoiding obstacles according to the running orbit of the position of barrier and arm support；
Arm support second is exported when receiving the second startup order and runs control signal, control arm support is according to the safe operation rail
Mark is run to target angle of revolution and targeted attitude, arm support tail end is run to target location.
A kind of 10. control device of arm support, it is characterised in that including：
Receiving module, for receiving current angle of revolution and the current pose of arm support, and receives the position of the arm support root centre of gyration
Information and target position information；
Determining module, for being determined according to current angle of revolution, current pose, the position of the arm support root centre of gyration and target location
The running orbit of arm support；
Action module, for after the first startup order is received export arm support first run control signal, control arm support according to
The running orbit is run to target angle of revolution and targeted attitude, arm support tail end is run to target location.
11. control device as claimed in claim 10, it is characterised in that the receiving module, is additionally operable to receive barrier
Positional information；
The determining module, is additionally operable to be determined to transport arm support avoiding obstacles according to the position of barrier and the running orbit of arm support
Capable safe operation track；
The action module, is additionally operable to export the operation control signal of arm support second, control arm when receiving the second startup order
Frame is run to target angle of revolution and targeted attitude according to the safe operation track, arm support tail end is run to target location.
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| CN201410411944.8A CN105353776B (en) | 2014-08-20 | 2014-08-20 | A kind of control system of arm support, method, apparatus and engineering machinery |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410411944.8A CN105353776B (en) | 2014-08-20 | 2014-08-20 | A kind of control system of arm support, method, apparatus and engineering machinery |
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| CN105353776B true CN105353776B (en) | 2018-04-13 |
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| CN114323022B (en) * | 2021-12-10 | 2023-11-17 | 三一汽车制造有限公司 | Auxiliary determination method and device for arm support posture and working machine |
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